model = [   0.0685    0.6383    0.4558    0.7411   -0.7219    0.7081    0.7061    0.2887   -0.9521   -0.2553;
            0.4636    0.0159   -0.1010    0.2817    0.6638    0.1582    0.3925   -0.7954    0.6965   -0.7795;
            0         0         0         0         0         0         0         0         0         0    ];

iprts =[   -0.0168    0.0377    0.0277    0.0373   -0.0824    0.0386    0.0317    0.0360   -0.1015   -0.0080;
            0.0866    0.1179    0.1233    0.1035    0.0667    0.1102    0.0969    0.1660    0.0622    0.1608;
            1.0000    1.0000    1.0000    1.0000    1.0000    1.0000    1.0000    1.0000    1.0000    1.0000];


[R,t,err] = robust_pose(model,iprts)